Kinematic Robutness of Manipulating Systems
Present day mechanical manipulators have poor performances when compared with the human arm. In fact, joint-driven manipulators are not efficient due to the high actuator requirements imposed by the transients of the operational tasks. muscle-actuated arms are superior because the anatomic levers ad...
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| Format: | article |
| Language: | eng |
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2019
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| Online Access: | http://hdl.handle.net/10400.22/13516 |
| Country: | Portugal |
| Oai: | oai:recipp.ipp.pt:10400.22/13516 |
| Summary: | Present day mechanical manipulators have poor performances when compared with the human arm. In fact, joint-driven manipulators are not efficient due to the high actuator requirements imposed by the transients of the operational tasks. muscle-actuated arms are superior because the anatomic levers adapt the manipulating exigences to the driving linear actuators. The kinematic analysis of these systems highlights its main properties and constitutes a step towards the design of new mechanical biological-like robotic structures adopting linear actuators replacing the standard rotational joint-driving motor systems. |
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